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/**
 * @file rc_channels.h
 * Definition of the rc_channels uORB topic.
 */

#ifndef RC_CHANNELS_H_
#define RC_CHANNELS_H_

#include <stdint.h>
#include "../uORB.h"

/**
 * This defines the mapping of the RC functions.
 * The value assigned to the specific function corresponds to the entry of
 * the channel array channels[].
 */
enum RC_CHANNELS_FUNCTION {
	THROTTLE = 0,
	ROLL,
	PITCH,
	YAW,
	MODE,
	RETURN,
	POSCTL,
	LOITER,
	OFFBOARD_MODE,
	ACRO,
	FLAPS,
	AUX_1,
	AUX_2,
	AUX_3,
	AUX_4,
	AUX_5,
	RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */
};

/**
 * @addtogroup topics
 * @{
 */
struct rc_channels_s {
	uint64_t timestamp;									/**< Timestamp in microseconds since boot time */
	uint64_t timestamp_last_valid;						/**< Timestamp of last valid RC signal */
	float channels[RC_CHANNELS_FUNCTION_MAX];			/**< Scaled to -1..1 (throttle: 0..1) */
	uint8_t channel_count;								/**< Number of valid channels */
	char function_name[RC_CHANNELS_FUNCTION_MAX][20];	/**< String array to store the names of the functions */
	int8_t function[RC_CHANNELS_FUNCTION_MAX];			/**< Functions mapping */
	uint8_t rssi;										/**< Receive signal strength index */
	bool signal_lost;									/**< Control signal lost, should be checked together with topic timeout */
}; /**< radio control channels. */

/**
 * @}
 */

/* register this as object request broker structure */
ORB_DECLARE(rc_channels);

#endif